Add hand laser pointer, passthrough, gaze balls, G1 models, and recenter support

- Hand tracking laser pointer with pinch-to-click gesture for menu interaction
- Meta Quest passthrough (alpha blend + XR_FB_PASSTHROUGH extension)
- Stationary webcam quad (moved from XRCamera3D to XROrigin3D)
- Gaze-activated exit balls (4 balls: exit AR, 2 reserved, quit app)
- Gaze laser beam and ball growth visual feedback
- Spinning G1 3D model flanking the start screen menu
- Recenter support via pose_recentered signal
- Exit AR mode returns to CONFIG phase with UI repositioning

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Main.gd

@@ -10,7 +10,7 @@ enum Phase { CONFIG, AR }
 @onready var teleop_client: Node = $TeleopClient
 @onready var xr_origin: XROrigin3D = $XROrigin3D
 @onready var xr_camera: XRCamera3D = $XROrigin3D/XRCamera3D
-@onready var webcam_quad: MeshInstance3D = $XROrigin3D/XRCamera3D/WebcamQuad
+@onready var webcam_quad: MeshInstance3D = $XROrigin3D/WebcamQuad
 @onready var start_screen: Node3D = $XROrigin3D/StartScreen
 @onready var left_controller: XRController3D = $XROrigin3D/LeftController
 @onready var right_controller: XRController3D = $XROrigin3D/RightController
@@ -21,6 +21,35 @@ var xr_is_focused: bool = false
 var current_phase: Phase = Phase.CONFIG
 var _panel_positioned: bool = false
 
+# Spinning G1 models flanking the start screen
+var _g1_model_left: Node3D
+var _g1_model_right: Node3D
+var _config_light: DirectionalLight3D
+const G1_SPIN_SPEED := 0.5  # radians per second
+
+# Gaze balls: [exit_ar, slot_1, slot_2, quit_app] — left to right
+var _gaze_balls: Array = []       # Array of MeshInstance3D
+var _gaze_mats: Array = []        # Array of StandardMaterial3D
+var _gaze_timers: Array = [0.0, 0.0, 0.0, 0.0]
+var _gaze_laser: MeshInstance3D
+const GAZE_BALL_COUNT := 4
+const GAZE_ACTIVATE_TIME := 5.0
+const GAZE_ANGLE_THRESHOLD := 8.0  # degrees
+const GAZE_BALL_BASE_SCALE := 1.0
+const GAZE_BALL_MAX_SCALE := 1.8
+const GAZE_BALL_COLORS: Array = [
+	Color(1.0, 0.2, 0.2, 0.35),   # 0: red — exit AR
+	Color(0.8, 0.6, 0.2, 0.35),   # 1: yellow — reserved
+	Color(0.2, 0.8, 0.4, 0.35),   # 2: green — reserved
+	Color(0.2, 0.3, 1.0, 0.35),   # 3: blue — quit app
+]
+const GAZE_BALL_BASE_COLORS: Array = [
+	Color(1.0, 0.2, 0.2),
+	Color(0.8, 0.6, 0.2),
+	Color(0.2, 0.8, 0.4),
+	Color(0.2, 0.3, 1.0),
+]
+
 
 func _ready() -> void:
 	# Hide webcam quad and start screen until positioned
@@ -31,11 +60,13 @@ func _ready() -> void:
 	xr_interface = XRServer.find_interface("OpenXR")
 	if xr_interface and xr_interface.is_initialized():
 		print("[Main] OpenXR already initialized")
+		xr_interface.connect("pose_recentered", _on_pose_recentered)
 		_on_openxr_ready()
 	elif xr_interface:
 		xr_interface.connect("session_begun", _on_openxr_session_begun)
 		xr_interface.connect("session_focussed", _on_openxr_focused)
 		xr_interface.connect("session_stopping", _on_openxr_stopping)
+		xr_interface.connect("pose_recentered", _on_pose_recentered)
 		if not xr_interface.initialize():
 			printerr("[Main] Failed to initialize OpenXR")
 			get_tree().quit()
@@ -49,6 +80,11 @@ func _ready() -> void:
 	# Enable XR on the viewport
 	get_viewport().use_xr = true
 
+	# CONFIG phase: keep background opaque so passthrough is hidden
+	# (blend mode is alpha_blend from project settings, but we render opaque black)
+	get_viewport().transparent_bg = false
+	RenderingServer.set_default_clear_color(Color(0, 0, 0, 1))
+
 	# Connect start screen signals
 	start_screen.connect_requested.connect(_on_connect_requested)
 	start_screen.launch_ar_requested.connect(_on_launch_ar_requested)
@@ -68,7 +104,7 @@ func _ready() -> void:
 	print("[Main] Starting in CONFIG phase")
 
 
-func _process(_delta: float) -> void:
+func _process(delta: float) -> void:
 	if not _panel_positioned and current_phase == Phase.CONFIG:
 		# Wait until we have valid head tracking data to position the panel
 		var hmd := XRServer.get_hmd_transform()
@@ -76,6 +112,16 @@ func _process(_delta: float) -> void:
 			_position_panel_in_front_of_user(hmd)
 			_panel_positioned = true
 
+	# Spin G1 models in CONFIG phase
+	if current_phase == Phase.CONFIG:
+		if _g1_model_left and _g1_model_left.visible:
+			_g1_model_left.rotate_y(G1_SPIN_SPEED * delta)
+		if _g1_model_right and _g1_model_right.visible:
+			_g1_model_right.rotate_y(G1_SPIN_SPEED * delta)
+
+	if current_phase == Phase.AR:
+		_update_gaze_balls(delta)
+
 
 func _position_panel_in_front_of_user(hmd: Transform3D) -> void:
 	# Place the panel 1.2m in front of the user at their eye height
@@ -96,6 +142,59 @@ func _position_panel_in_front_of_user(hmd: Transform3D) -> void:
 	start_screen.visible = true
 	print("[Main] Panel positioned at %s (user at %s)" % [panel_pos, hmd.origin])
 
+	# Position spinning G1 models on each side of the panel
+	var right := forward.cross(Vector3.UP).normalized()
+	_setup_g1_models(panel_pos, right, hmd.origin)
+
+
+func _setup_g1_models(panel_pos: Vector3, right: Vector3, user_pos: Vector3) -> void:
+	var g1_scene = load("res://models/g1_full.obj")
+	if g1_scene == null:
+		printerr("[Main] Failed to load G1 model")
+		return
+
+	if _g1_model_left == null:
+		_g1_model_left = _create_g1_instance(g1_scene)
+		add_child(_g1_model_left)
+	if _g1_model_right == null:
+		_g1_model_right = _create_g1_instance(g1_scene)
+		add_child(_g1_model_right)
+
+	# Place 0.7m to each side of the panel, slightly below eye height
+	_g1_model_left.global_position = panel_pos - right * 0.7 + Vector3.DOWN * 0.3
+	_g1_model_right.global_position = panel_pos + right * 0.7 + Vector3.DOWN * 0.3
+
+	# Reset rotation to just the upright correction, then face user
+	_g1_model_left.rotation = Vector3(-PI / 2.0, 0, 0)
+	_g1_model_right.rotation = Vector3(-PI / 2.0, 0, 0)
+
+	_g1_model_left.visible = true
+	_g1_model_right.visible = true
+
+	# Add a directional light for shading the models
+	if _config_light == null:
+		_config_light = DirectionalLight3D.new()
+		_config_light.light_energy = 1.0
+		_config_light.rotation_degrees = Vector3(-45, 30, 0)
+		add_child(_config_light)
+	_config_light.visible = true
+	print("[Main] G1 models positioned")
+
+
+func _create_g1_instance(mesh_resource: Mesh) -> MeshInstance3D:
+	var inst := MeshInstance3D.new()
+	inst.mesh = mesh_resource
+	# Scale down to ~0.3m tall (adjust if needed)
+	inst.scale = Vector3(0.0015, 0.0015, 0.0015)
+	# Rotate 90 degrees around X to stand the model upright (OBJ has Z-up)
+	inst.rotate_x(-PI / 2.0)
+	inst.visible = false
+	# Add a shaded material so the model is visible with lighting
+	var mat := StandardMaterial3D.new()
+	mat.albedo_color = Color(0.4, 0.6, 0.9, 1.0)  # Light blue
+	inst.material_override = mat
+	return inst
+
 
 func _on_openxr_session_begun() -> void:
 	print("[Main] OpenXR session begun")
@@ -114,6 +213,16 @@ func _on_openxr_focused() -> void:
 	print("[Main] OpenXR session focused")
 
 
+func _on_pose_recentered() -> void:
+	print("[Main] Pose recentered — repositioning UI")
+	var hmd := XRServer.get_hmd_transform()
+	if current_phase == Phase.CONFIG:
+		_position_panel_in_front_of_user(hmd)
+	elif current_phase == Phase.AR:
+		_position_quad_in_front_of_user(webcam_quad, hmd, 1.2, -0.3)
+		_create_gaze_balls(hmd)
+
+
 func _on_openxr_stopping() -> void:
 	xr_is_focused = false
 	print("[Main] OpenXR session stopping")
@@ -145,23 +254,226 @@ func _on_launch_ar_requested() -> void:
 	# Enable passthrough
 	_enable_passthrough()
 
-	# Wire body tracker to teleop client
-	body_tracker.tracking_data_ready.connect(teleop_client._on_tracking_data)
+	# Wire body tracker to teleop client (only connect once)
+	if not body_tracker.tracking_data_ready.is_connected(teleop_client._on_tracking_data):
+		body_tracker.tracking_data_ready.connect(teleop_client._on_tracking_data)
 
-	# Show webcam quad, hide start screen
+	# Position webcam quad in front of user (stationary)
+	var hmd := XRServer.get_hmd_transform()
+	_position_quad_in_front_of_user(webcam_quad, hmd, 1.2, -0.3)
 	webcam_quad.visible = true
+
+	# Hide start screen and G1 models
 	start_screen.hide_screen()
+	if _g1_model_left:
+		_g1_model_left.visible = false
+	if _g1_model_right:
+		_g1_model_right.visible = false
+	if _config_light:
+		_config_light.visible = false
+
+	# Create and position gaze exit balls
+	_create_gaze_balls(hmd)
 
 
 func _enable_passthrough() -> void:
+	# Enable Meta Quest passthrough via XR_FB_PASSTHROUGH extension.
+	# Requires openxr/extensions/meta/passthrough=true in project settings
+	# and meta_xr_features/passthrough=2 in export presets.
+
+	# Make viewport transparent so passthrough shows through
+	get_viewport().transparent_bg = true
+	RenderingServer.set_default_clear_color(Color(0, 0, 0, 0))
+
+	# Set blend mode to alpha blend — the Meta vendor plugin intercepts this
+	# and activates FB passthrough even though it's not in supported modes list.
+	var openxr = xr_interface as OpenXRInterface
+	if openxr:
+		openxr.environment_blend_mode = XRInterface.XR_ENV_BLEND_MODE_ALPHA_BLEND
+		print("[Main] Passthrough enabled (alpha blend + transparent bg)")
+
+
+func _disable_passthrough() -> void:
+	get_viewport().transparent_bg = false
+	RenderingServer.set_default_clear_color(Color(0, 0, 0, 1))
+
 	var openxr = xr_interface as OpenXRInterface
 	if openxr:
-		var modes = openxr.get_supported_environment_blend_modes()
-		print("[Main] Supported blend modes: ", modes)
-		if XRInterface.XR_ENV_BLEND_MODE_ALPHA_BLEND in modes:
-			openxr.set_environment_blend_mode(XRInterface.XR_ENV_BLEND_MODE_ALPHA_BLEND)
-			print("[Main] Passthrough enabled (alpha blend)")
-			get_viewport().transparent_bg = true
-			RenderingServer.set_default_clear_color(Color(0, 0, 0, 0))
+		openxr.environment_blend_mode = XRInterface.XR_ENV_BLEND_MODE_OPAQUE
+		print("[Main] Passthrough disabled")
+
+
+func _position_quad_in_front_of_user(quad: Node3D, hmd: Transform3D, distance: float, y_offset: float) -> void:
+	var forward := -hmd.basis.z
+	forward.y = 0
+	if forward.length() < 0.01:
+		forward = Vector3(0, 0, -1)
+	forward = forward.normalized()
+
+	var pos := hmd.origin + forward * distance
+	pos.y = hmd.origin.y + y_offset
+
+	quad.global_position = pos
+	quad.look_at(hmd.origin, Vector3.UP)
+	quad.rotate_y(PI)
+
+
+func _create_gaze_balls(hmd: Transform3D) -> void:
+	var forward := -hmd.basis.z
+	forward.y = 0
+	if forward.length() < 0.01:
+		forward = Vector3(0, 0, -1)
+	forward = forward.normalized()
+	var right := forward.cross(Vector3.UP).normalized()
+
+	var base_pos := hmd.origin + forward * 1.0 + Vector3.UP * 0.35
+
+	# Create balls if first time, spread evenly left to right
+	if _gaze_balls.is_empty():
+		for i in range(GAZE_BALL_COUNT):
+			var ball := _make_gaze_sphere(GAZE_BALL_COLORS[i])
+			_gaze_balls.append(ball)
+			_gaze_mats.append(ball.material_override)
+			add_child(ball)
+
+	# Position: spread from -0.45 to +0.45 across the row
+	var spread := 0.3  # spacing between balls
+	var half_width := spread * (GAZE_BALL_COUNT - 1) / 2.0
+	for i in range(GAZE_BALL_COUNT):
+		var offset := -half_width + spread * i
+		_gaze_balls[i].global_position = base_pos + right * offset
+		_gaze_balls[i].visible = true
+		_gaze_balls[i].scale = Vector3.ONE
+		_gaze_timers[i] = 0.0
+
+	# Gaze laser beam
+	if _gaze_laser == null:
+		_gaze_laser = MeshInstance3D.new()
+		var cyl := CylinderMesh.new()
+		cyl.top_radius = 0.002
+		cyl.bottom_radius = 0.002
+		cyl.height = 1.0
+		_gaze_laser.mesh = cyl
+		var lmat := StandardMaterial3D.new()
+		lmat.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
+		lmat.albedo_color = Color(1.0, 1.0, 1.0, 0.4)
+		lmat.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA
+		lmat.no_depth_test = true
+		_gaze_laser.material_override = lmat
+		add_child(_gaze_laser)
+	_gaze_laser.visible = false
+
+
+func _make_gaze_sphere(color: Color) -> MeshInstance3D:
+	var mesh := MeshInstance3D.new()
+	var sphere := SphereMesh.new()
+	sphere.radius = 0.035
+	sphere.height = 0.07
+	mesh.mesh = sphere
+	var mat := StandardMaterial3D.new()
+	mat.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
+	mat.albedo_color = color
+	mat.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA
+	mat.no_depth_test = true
+	mesh.material_override = mat
+	return mesh
+
+
+func _update_gaze_balls(delta: float) -> void:
+	if _gaze_balls.is_empty() or not _gaze_balls[0].visible:
+		return
+
+	var hmd := XRServer.get_hmd_transform()
+	if hmd.origin == Vector3.ZERO:
+		return
+
+	var gaze_dir := (-hmd.basis.z).normalized()
+	var threshold := deg_to_rad(GAZE_ANGLE_THRESHOLD)
+	var gazing_at_any := false
+
+	for i in range(GAZE_BALL_COUNT):
+		var ball: MeshInstance3D = _gaze_balls[i]
+		var to_ball: Vector3 = (ball.global_position - hmd.origin).normalized()
+		var looking := gaze_dir.angle_to(to_ball) < threshold
+		if looking:
+			_gaze_timers[i] += delta
+			if not gazing_at_any:
+				gazing_at_any = true
+				_show_gaze_laser(hmd.origin, ball.global_position)
 		else:
-			print("[Main] Alpha blend not supported, using opaque mode")
+			_gaze_timers[i] = 0.0
+		_update_gaze_visual(_gaze_mats[i] as StandardMaterial3D, GAZE_BALL_BASE_COLORS[i] as Color, _gaze_timers[i], ball)
+
+		if _gaze_timers[i] >= GAZE_ACTIVATE_TIME:
+			_on_gaze_activated(i)
+			return
+
+	if not gazing_at_any and _gaze_laser:
+		_gaze_laser.visible = false
+
+
+func _on_gaze_activated(index: int) -> void:
+	match index:
+		0:  # Exit AR
+			print("[Main] Gaze exit: returning to CONFIG")
+			_exit_ar_mode()
+		3:  # Quit app
+			print("[Main] Gaze exit: quitting app")
+			get_tree().quit()
+		_:  # Reserved slots — no action yet
+			print("[Main] Gaze ball %d activated (no action assigned)" % index)
+			_gaze_timers[index] = 0.0
+
+
+func _update_gaze_visual(mat: StandardMaterial3D, base_color: Color, timer: float, ball: MeshInstance3D) -> void:
+	var progress := clampf(timer / GAZE_ACTIVATE_TIME, 0.0, 1.0)
+	# Opacity goes from 0.35 to 1.0 as gaze progresses
+	var alpha := lerpf(0.35, 1.0, progress)
+	# Color brightens toward white at the end
+	var color := base_color.lerp(Color(1.0, 1.0, 1.0), progress * 0.5)
+	color.a = alpha
+	mat.albedo_color = color
+
+	# Scale ball up when being gazed at
+	var s := lerpf(GAZE_BALL_BASE_SCALE, GAZE_BALL_MAX_SCALE, progress)
+	ball.scale = Vector3(s, s, s)
+
+
+func _show_gaze_laser(from: Vector3, to: Vector3) -> void:
+	if _gaze_laser == null:
+		return
+	var dir := to - from
+	var length := dir.length()
+	var cyl := _gaze_laser.mesh as CylinderMesh
+	if cyl:
+		cyl.height = length
+	# Position at midpoint, orient Y-axis along the ray
+	_gaze_laser.global_position = from + dir * 0.5
+	var up := dir.normalized()
+	var arbitrary := Vector3.UP if abs(up.dot(Vector3.UP)) < 0.99 else Vector3.RIGHT
+	var right := up.cross(arbitrary).normalized()
+	var forward := right.cross(up).normalized()
+	_gaze_laser.global_transform.basis = Basis(right, up, forward)
+	_gaze_laser.visible = true
+
+
+func _exit_ar_mode() -> void:
+	current_phase = Phase.CONFIG
+
+	# Disable passthrough
+	_disable_passthrough()
+
+	# Hide gaze balls, laser, and webcam
+	for ball in _gaze_balls:
+		ball.visible = false
+		ball.scale = Vector3.ONE
+	for i in range(_gaze_timers.size()):
+		_gaze_timers[i] = 0.0
+	if _gaze_laser:
+		_gaze_laser.visible = false
+	webcam_quad.visible = false
+
+	# Show start screen again, reposition in front of user
+	var hmd := XRServer.get_hmd_transform()
+	_position_panel_in_front_of_user(hmd)
+	print("[Main] Returned to CONFIG phase")

Main.tscn

@@ -14,7 +14,7 @@ script = ExtResource("1")
 
 [node name="XRCamera3D" type="XRCamera3D" parent="XROrigin3D"]
 
-[node name="WebcamQuad" parent="XROrigin3D/XRCamera3D" instance=ExtResource("5")]
+[node name="WebcamQuad" parent="XROrigin3D" instance=ExtResource("5")]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.3, -1.5)
 
 [node name="StartScreen" parent="XROrigin3D" instance=ExtResource("6")]

project.godot

@@ -39,5 +39,6 @@ openxr/extensions/hand_tracking=true
 openxr/extensions/hand_tracking_unobstructed_data_source=true
 openxr/extensions/hand_tracking_controller_data_source=true
 openxr/extensions/hand_interaction_profile=true
-openxr/extensions/meta/body_tracking=true
 shaders/enabled=true
+openxr/extensions/meta/passthrough=true
+openxr/extensions/meta/body_tracking=true

scripts/vr_ui_pointer.gd

@@ -7,6 +7,9 @@ extends Node3D
 @export var poke_threshold: float = 0.03
 @export var hover_distance: float = 0.15
 @export var laser_color: Color = Color(0.3, 0.6, 1.0, 0.6)
+@export var pinch_press_threshold: float = 0.025
+@export var pinch_release_threshold: float = 0.035
+@export var hand_laser_color: Color = Color(0.8, 0.4, 1.0, 0.5)
 
 var _xr_origin: XROrigin3D
 var _camera: XRCamera3D
@@ -28,6 +31,11 @@ var _is_pressing: bool = false
 var _active_method: String = ""
 var _log_timer: float = 0.0
 
+# Hand laser state
+var _hand_laser_left: MeshInstance3D
+var _hand_laser_right: MeshInstance3D
+var _pinch_pressed: Array = [false, false]
+
 const JOINT_COUNT := 26
 # Fingertip joint indices for XRHandTracker (thumb=5, index=10, middle=15, ring=20, pinky=25)
 const TIP_JOINTS := [5, 10, 15, 20, 25]
@@ -41,6 +49,8 @@ const BODY_HAND_JOINT_COUNT := 25
 const BODY_TIP_JOINTS := [4, 9, 14, 19, 24]
 # Index finger tip within body tracker hand block (for poke interaction)
 const BODY_INDEX_TIP := 9
+# Thumb tip within body tracker hand block (for pinch detection)
+const BODY_THUMB_TIP := 4
 
 
 func setup(xr_origin: XROrigin3D, camera: XRCamera3D, left_ctrl: XRController3D, right_ctrl: XRController3D) -> void:
@@ -78,6 +88,14 @@ func setup(xr_origin: XROrigin3D, camera: XRCamera3D, left_ctrl: XRController3D,
 	_reticle.visible = false
 	add_child(_reticle)
 
+	# Hand laser beams (positioned each frame from hand tracking)
+	_hand_laser_right = _create_hand_laser()
+	_hand_laser_right.visible = false
+	add_child(_hand_laser_right)
+	_hand_laser_left = _create_hand_laser()
+	_hand_laser_left.visible = false
+	add_child(_hand_laser_left)
+
 	# Hand joint spheres
 	_create_hand_visuals()
 
@@ -105,6 +123,21 @@ func _create_laser() -> MeshInstance3D:
 	return laser
 
 
+func _create_hand_laser() -> MeshInstance3D:
+	var laser := MeshInstance3D.new()
+	var cyl := CylinderMesh.new()
+	cyl.top_radius = 0.002
+	cyl.bottom_radius = 0.002
+	cyl.height = ray_length
+	laser.mesh = cyl
+	var mat := StandardMaterial3D.new()
+	mat.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
+	mat.albedo_color = hand_laser_color
+	mat.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA
+	laser.material_override = mat
+	return laser
+
+
 func _create_hand_visuals() -> void:
 	# Shared meshes - larger for visibility in VR
 	var joint_mesh := SphereMesh.new()
@@ -219,38 +252,94 @@ func _process(delta: float) -> void:
 	var panels := _get_ui_panels()
 	if panels.is_empty():
 		_reticle.visible = false
+		_hand_laser_left.visible = false
+		_hand_laser_right.visible = false
 		return
 
 	var hit := false
+	var controllers_active := l_active or r_active
 
-	# 1. Hand tracking poke (priority over controller ray)
-	for hand_idx in [0, 1]:
-		var tip_pos := _get_fingertip_world_position(hand_idx)
-		if tip_pos == Vector3.ZERO:
-			continue
-		for panel in panels:
-			var result := _check_point_against_panel(tip_pos, panel[0], panel[1])
-			if result.size() > 0 and abs(result[0]) < hover_distance:
-				hit = true
-				_reticle.global_position = result[2]
-				_reticle.visible = true
-				_current_viewport = panel[1]
-				_last_viewport_pos = result[1]
-				_send_mouse_motion(panel[1], result[1])
-
-				var method := "poke_%d" % hand_idx
-				if result[0] < poke_threshold and not _is_pressing:
-					_is_pressing = true
-					_active_method = method
-					_send_mouse_button(panel[1], result[1], true)
-				elif result[0] >= poke_threshold and _is_pressing and _active_method == method:
-					_is_pressing = false
-					_send_mouse_button(panel[1], result[1], false)
+	# Hide hand lasers by default each frame
+	_hand_laser_left.visible = false
+	_hand_laser_right.visible = false
+
+	# 1. Hand laser ray (highest priority, only when no controllers)
+	if not controllers_active:
+		for hand_idx in [1, 0]:  # Right hand first
+			var hand_ray := _get_hand_ray(hand_idx)
+			if hand_ray.is_empty():
+				continue
+
+			var ray_origin: Vector3 = hand_ray[0]
+			var ray_dir: Vector3 = hand_ray[1]
+			var laser: MeshInstance3D = _hand_laser_right if hand_idx == 1 else _hand_laser_left
+			var method := "hand_laser_%d" % hand_idx
+
+			# Show laser beam at full length
+			laser.visible = true
+			_update_hand_laser_visual(laser, ray_origin, ray_dir, ray_length)
+
+			for panel in panels:
+				var result := _ray_intersect_panel(ray_origin, ray_dir, panel[0], panel[1])
+				if result.size() > 0:
+					hit = true
+					_reticle.global_position = result[2]
+					_reticle.visible = true
+					_current_viewport = panel[1]
+					_last_viewport_pos = result[1]
+					_send_mouse_motion(panel[1], result[1])
+
+					# Shorten laser to hit point
+					var dist := ray_origin.distance_to(result[2])
+					_update_hand_laser_visual(laser, ray_origin, ray_dir, dist)
+
+					# Pinch-to-click with hysteresis
+					var pinch_dist := _get_pinch_distance(hand_idx)
+					if pinch_dist >= 0.0:
+						if not _pinch_pressed[hand_idx] and pinch_dist < pinch_press_threshold:
+							_pinch_pressed[hand_idx] = true
+							if not _is_pressing:
+								_is_pressing = true
+								_active_method = method
+								_send_mouse_button(panel[1], result[1], true)
+						elif _pinch_pressed[hand_idx] and pinch_dist > pinch_release_threshold:
+							_pinch_pressed[hand_idx] = false
+							if _is_pressing and _active_method == method:
+								_is_pressing = false
+								_send_mouse_button(panel[1], result[1], false)
+					break
+			if hit:
+				break
+
+	# 2. Hand tracking poke
+	if not hit:
+		for hand_idx in [0, 1]:
+			var tip_pos := _get_fingertip_world_position(hand_idx)
+			if tip_pos == Vector3.ZERO:
+				continue
+			for panel in panels:
+				var result := _check_point_against_panel(tip_pos, panel[0], panel[1])
+				if result.size() > 0 and abs(result[0]) < hover_distance:
+					hit = true
+					_reticle.global_position = result[2]
+					_reticle.visible = true
+					_current_viewport = panel[1]
+					_last_viewport_pos = result[1]
+					_send_mouse_motion(panel[1], result[1])
+
+					var method := "poke_%d" % hand_idx
+					if result[0] < poke_threshold and not _is_pressing:
+						_is_pressing = true
+						_active_method = method
+						_send_mouse_button(panel[1], result[1], true)
+					elif result[0] >= poke_threshold and _is_pressing and _active_method == method:
+						_is_pressing = false
+						_send_mouse_button(panel[1], result[1], false)
+					break
+			if hit:
 				break
-		if hit:
-			break
 
-	# 2. Controller ray pointing
+	# 3. Controller ray pointing
 	if not hit:
 		for ctrl_data in [[_right_ctrl, _laser_right, "ray_right"], [_left_ctrl, _laser_left, "ray_left"]]:
 			var ctrl: XRController3D = ctrl_data[0]
@@ -282,6 +371,7 @@ func _process(delta: float) -> void:
 			_is_pressing = false
 			if _current_viewport:
 				_send_mouse_button(_current_viewport, _last_viewport_pos, false)
+			_pinch_pressed = [false, false]
 		_current_viewport = null
 
 
@@ -368,6 +458,76 @@ func _get_fingertip_world_position(hand: int) -> Vector3:
 	return Vector3.ZERO
 
 
+func _get_hand_ray(hand: int) -> Array:
+	var origin_xform := _xr_origin.global_transform
+
+	# Try XRHandTracker first
+	var tracker_name := &"/user/hand_tracker/left" if hand == 0 else &"/user/hand_tracker/right"
+	var tracker = XRServer.get_tracker(tracker_name)
+	if tracker:
+		var hand_tracker := tracker as XRHandTracker
+		if hand_tracker and hand_tracker.has_tracking_data:
+			var wrist := hand_tracker.get_hand_joint_transform(XRHandTracker.HAND_JOINT_WRIST)
+			var middle_meta := hand_tracker.get_hand_joint_transform(XRHandTracker.HAND_JOINT_MIDDLE_FINGER_METACARPAL)
+			if wrist.origin != Vector3.ZERO and middle_meta.origin != Vector3.ZERO:
+				var ray_origin := origin_xform * wrist.origin
+				var ray_target := origin_xform * middle_meta.origin
+				var ray_dir := (ray_target - ray_origin).normalized()
+				return [ray_origin, ray_dir]
+
+	# Fallback: XRBodyTracker (wrist=offset 1, middle metacarpal=offset 10)
+	var body_tracker = XRServer.get_tracker(&"/user/body_tracker") as XRBodyTracker
+	if body_tracker and body_tracker.get_has_tracking_data():
+		var start_idx := BODY_LEFT_HAND_START if hand == 0 else BODY_RIGHT_HAND_START
+		var wrist := body_tracker.get_joint_transform(start_idx + 1)
+		var middle_meta := body_tracker.get_joint_transform(start_idx + 10)
+		if wrist.origin != Vector3.ZERO and middle_meta.origin != Vector3.ZERO:
+			var ray_origin := origin_xform * wrist.origin
+			var ray_target := origin_xform * middle_meta.origin
+			var ray_dir := (ray_target - ray_origin).normalized()
+			return [ray_origin, ray_dir]
+
+	return []
+
+
+func _get_pinch_distance(hand: int) -> float:
+	# Try XRHandTracker first
+	var tracker_name := &"/user/hand_tracker/left" if hand == 0 else &"/user/hand_tracker/right"
+	var tracker = XRServer.get_tracker(tracker_name)
+	if tracker:
+		var hand_tracker := tracker as XRHandTracker
+		if hand_tracker and hand_tracker.has_tracking_data:
+			var thumb := hand_tracker.get_hand_joint_transform(XRHandTracker.HAND_JOINT_THUMB_TIP)
+			var index := hand_tracker.get_hand_joint_transform(XRHandTracker.HAND_JOINT_INDEX_FINGER_TIP)
+			if thumb.origin != Vector3.ZERO and index.origin != Vector3.ZERO:
+				return thumb.origin.distance_to(index.origin)
+
+	# Fallback: XRBodyTracker
+	var body_tracker = XRServer.get_tracker(&"/user/body_tracker") as XRBodyTracker
+	if body_tracker and body_tracker.get_has_tracking_data():
+		var start_idx := BODY_LEFT_HAND_START if hand == 0 else BODY_RIGHT_HAND_START
+		var thumb := body_tracker.get_joint_transform(start_idx + BODY_THUMB_TIP)
+		var index := body_tracker.get_joint_transform(start_idx + BODY_INDEX_TIP)
+		if thumb.origin != Vector3.ZERO and index.origin != Vector3.ZERO:
+			return thumb.origin.distance_to(index.origin)
+
+	return -1.0
+
+
+func _update_hand_laser_visual(laser: MeshInstance3D, ray_origin: Vector3, ray_dir: Vector3, length: float) -> void:
+	var cyl := laser.mesh as CylinderMesh
+	if cyl:
+		cyl.height = length
+	var midpoint := ray_origin + ray_dir * (length / 2.0)
+	laser.global_position = midpoint
+	# Align cylinder Y-axis with ray direction
+	var up := ray_dir
+	var arbitrary := Vector3.UP if abs(ray_dir.dot(Vector3.UP)) < 0.99 else Vector3.RIGHT
+	var right := up.cross(arbitrary).normalized()
+	var forward := right.cross(up).normalized()
+	laser.global_transform.basis = Basis(right, up, forward)
+
+
 func _get_ui_panels() -> Array:
 	var results := []
 	for screen in get_tree().get_nodes_in_group("start_screen"):